CAN-based distributed control architecture using the SCoCAN communication protocol

Author

Coronel, J.O. ; Blanes, F. ; Benet, G. ; Simó, J.E. ; Pérez, P. ; Albero, M.

Author_Institution

Dept. de Informatica de Sistemas y Computadores, Univ. Politecnica de Valencia

Volume

1

fYear

2005

fDate

19-22 Sept. 2005

Lastpage

384

Abstract

This paper describes the design and implementation of a CAN time-triggered based communication protocol named SCoCAN, (shared channel on CAN), intended for use in distributed control systems, as is the case of autonomous mobile robots. This protocol enables real time communication between different intelligent nodes (sensors, actuators and controllers). The SCoCAN protocol has been implemented in the YAIR robot nodes, producing minimum jitter in the sensor-control-actuator loops. This hybrid protocol follows a scheme between pure TTP (time triggered protocol) and ETP (event triggered protocol), that guarantees acceptable response times and is deterministic

Keywords

controller area networks; distributed control; mobile robots; protocols; CAN-based distributed control architecture; SCoCAN communication protocol; YAIR robot node; autonomous mobile robot; distributed control system; event triggered protocol; sensor-control-actuator loop; shared channel on CAN; time triggered protocol; Communication system control; Distributed control; Intelligent actuators; Intelligent robots; Intelligent sensors; Jitter; Mobile communication; Mobile robots; Protocols; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on

Conference_Location

Catania

Print_ISBN

0-7803-9401-1

Type

conf

DOI

10.1109/ETFA.2005.1612549

Filename

1612549